相关论文: Learning Robotic Manipulation Tasks via Task Progr…

Space exploration missions have seen use of increasingly sophisticated robotic systems with ever more autonomy. Deep learning promises to take this even a step further, and has applications for high-level tasks, like path planning, as well…

Reward function design and exploration time are arguably the biggest obstacles to the deployment of reinforcement learning (RL) agents in the real world. In many real-world tasks, designing a reward function takes considerable hand…

Learning robotic manipulation tasks using reinforcement learning with sparse rewards is currently impractical due to the outrageous data requirements. Many practical tasks require manipulation of multiple objects, and the complexity of such…

Agile control of mobile manipulator is challenging because of the high complexity coupled by the robotic system and the unstructured working environment. Tracking and grasping a dynamic object with a random trajectory is even harder. In…

Goal-conditioned and Multi-Task Reinforcement Learning (GCRL and MTRL) address numerous problems related to robot learning, including locomotion, navigation, and manipulation scenarios. Recent works focusing on language-defined robotic…

Planning has been very successful for control tasks with known environment dynamics. To leverage planning in unknown environments, the agent needs to learn the dynamics from interactions with the world. However, learning dynamics models…

Traditional imitation learning provides a set of methods and algorithms to learn a reward function or policy from expert demonstrations. Learning from demonstration has been shown to be advantageous for navigation tasks as it allows for…

We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization training. During the joint training stage, a neural network…

In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of…

Combining model-based and model-free deep reinforcement learning has shown great promise for improving sample efficiency on complex control tasks while still retaining high performance. Incorporating imagination is a recent effort in this…

A robot operating in unstructured environments must be able to discriminate between different grasping styles depending on the prospective manipulation task. Having a system that allows learning from remote non-expert demonstrations can…

Training reinforcement learning (RL) agents using scalar reward signals is often infeasible when an environment has sparse and non-Markovian rewards. Moreover, handcrafting these reward functions before training is prone to…

Teaching robots novel skills with demonstrations via human-in-the-loop data collection techniques like kinesthetic teaching or teleoperation puts a heavy burden on human supervisors. In contrast to this paradigm, it is often significantly…

Modeling of physical human-robot collaborations is generally a challenging problem due to the unpredictive nature of human behavior. To address this issue, we present a data-efficient reinforcement learning framework which enables a robot…

Learning from demonstrations is a promising paradigm for transferring knowledge to robots. However, learning mobile manipulation tasks directly from a human teacher is a complex problem as it requires learning models of both the overall…

Learning with sparse rewards remains a significant challenge in reinforcement learning (RL), especially when the aim is to train a policy capable of achieving multiple different goals. To date, the most successful approaches for dealing…

Designing dense reward functions is pivotal for efficient robotic Reinforcement Learning (RL). However, most dense rewards rely on manual engineering, which fundamentally limits the scalability and automation of reinforcement learning.…

Automating the segregation process is a need for every sector experiencing a high volume of materials handling, repetitive and exhaustive operations, in addition to risky exposures. Learning automated pick-and-place operations can be…

Rewards play a crucial role in reinforcement learning. To arrive at the desired policy, the design of a suitable reward function often requires significant domain expertise as well as trial-and-error. Here, we aim to minimize the effort…